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System and method for cooperative target positioning of multiple unmanned aerial vehicles

A target positioning and multi-UAV technology, applied in the field of multi-UAV cooperative ground fixed/moving target positioning based on laser ranging, can solve the problems of poor real-time target positioning, decreased target positioning accuracy, and lack of operability , achieve the effect of fast target positioning speed, high target positioning accuracy, and improved rapidity

Inactive Publication Date: 2019-08-16
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The two-point intersection target positioning method uses its own position and attitude information to construct a spatial triangle, and the target positioning accuracy can be increased to 60m, but it still cannot meet the needs of precise strikes on targets in modern warfare
The spatial three-point intersection positioning method can get rid of the adverse effects caused by the measurement errors of the three attitude angles of the UAV, the pitch angle and the azimuth angle of the optical axis stabilized platform, but this method lacks operability, and in the actual application process In the middle, it is impossible to locate the ground moving target in real time
[0005] Therefore, the existing UAV reconnaissance image target positioning method has the following two shortcomings: one is that the target positioning accuracy will be seriously reduced when the UAV attitude angle measurement is inaccurate; the other is that the existing UAV The target positioning method of reconnaissance images is difficult to locate moving targets, and the real-time performance of target positioning is poor

Method used

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  • System and method for cooperative target positioning of multiple unmanned aerial vehicles
  • System and method for cooperative target positioning of multiple unmanned aerial vehicles
  • System and method for cooperative target positioning of multiple unmanned aerial vehicles

Examples

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no. 1 example

[0070] In the first embodiment of the present invention, a multi-UAV cooperative target positioning method based on laser ranging is aimed at the positioning of fixed targets on the ground, such as figure 2 shown, including the following specific steps:

[0071] The first step: if figure 2 As shown in Figure 10, one of the three UAVs searches for a fixed target on the ground. Once the UAV searches and recognizes the target, it immediately notifies the other two nearby UAVs to coordinate the target. Implement targeting.

[0072] The second step: if figure 2 As shown in Figure 11, the three UAVs keep flying around the target, and their top view is as follows image 3 As shown in , the tracks of the three UAVs basically form a circle;

[0073] Step 3: If figure 2 While the three UAVs shown in 12, 13 and 14 are flying around the target, the airborne main control board completes the detection and identification of the target, and calculates the corresponding gimbal control...

no. 2 example

[0078] In the second embodiment of the present invention, a target positioning method based on multi-UAV cooperative ranging is aimed at the positioning of ground moving targets, such as Figure 4 shown. The difference between the second embodiment of the present invention and the first embodiment is that Figure 4 In 19 and 20, the specific steps are as follows:

[0079] The first step: if Figure 4 As shown in Figure 10, one of the three drones searches for a moving target on the ground. Once the drone searches and recognizes the target, it immediately notifies the other two nearby drones to coordinate the target Implement targeting.

[0080] The second step: if Figure 4 As shown in Figure 19, the three UAVs keep flying around the target. Since the target is a moving target, the three UAVs need to track and fly around the target. The top view of the flight path is as follows Figure 5 shown;

[0081] Step 3: If Figure 4 As shown in 12, 13 and 14, while the three UAV...

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Abstract

The invention relates to a system and method for cooperative target positioning of multiple unmanned aerial vehicles. The system consists of three sets of same equipment, wherein each set of equipmentcomprises an unmanned aerial vehicle, a load-carrying cloud platform, a main control module, an airborne GPS, a data transmission sky end, a laser range finder, a camera, a data transmission ground end and a ground station, wherein the load-carrying cloud platform, the main control module, the airborne GPS and the data transmission sky end are fixedly connected to the unmanned aerial vehicle; themain control module is respectively connected with the camera, the laser range finder, the airborne GPS and the data transmission sky end through signal transmission lines, a yaw driving module and apitch driving module which are connected with the main control module are arranged on the load-carrying cloud platform, and the main control module respectively drives the camera to do yaw motion andpitch motion by controlling the yaw driving module and the pitch driving module on the load-carrying cloud platform; and the data transmission ground end is connected with the ground station throughthe signal transmission line. The target positioning precision can be improved under the condition that the measurement error of the attitude angle of the unmanned aerial vehicle is large.

Description

technical field [0001] The invention relates to the field of multi-UAV cooperative target positioning, in particular to a system and method for multi-UAV cooperative ground fixed / moving target positioning based on laser ranging. Background technique [0002] With the development and changes of modern warfare, the application of UAV reconnaissance image target positioning technology in military is very common. Target positioning technology has a huge intelligence support value and combat command role. Obtaining the precise coordinates of enemy targets through target positioning is of great significance for the analysis of the battlefield situation and the use of missiles for over-the-horizon attacks. UAV reconnaissance image target position measurement technology is the focus and hotspot of UAV information processing research. UAV reconnaissance image target positioning is directly related to UAV combat effectiveness and combat support capabilities. [0003] In the tradition...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 屈耀红孙颖王凯杨兵
Owner NORTHWESTERN POLYTECHNICAL UNIV
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